JPH0711426B2 - Driving route display device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a travel route display device for displaying the current position of a moving body such as an automobile on a screen on which a road map is previously projected.

2. Description of the Related Art Conventionally, as will be described later in detail, for example, when driving a car in a non-guidance area, an appropriate guidance is provided so that the driver does not get out of the planned course and gets lost. The traveling distance corresponding to the vehicle speed is detected by the distance detector and the traveling direction is detected by the direction detector, and the present position which changes momentarily on the XY coordinates of the automobile is sequentially detected from the detected values. A travel route display device which is obtained by calculation and which allows the driver to confirm the current position by updating and displaying the obtained current position with point information on a screen on which a road map is displayed in advance. Is being developed.

However, in such a travel route display device, it is inevitable that a position error will occur due to factors such as detection accuracy when distance detection and direction detection are performed according to the traveling state of an automobile, etc. Therefore, the error is accumulated and the current position that is updated and displayed gradually deviates from the road on the map, making it impossible to determine which road on the map the vehicle is traveling on. There is.

Then, by taking a matching means with the pattern of the road on the map and the pattern of the traveling locus obtained by storing and holding the data of the current position which is sequentially updated as the vehicle travels, the error from the road It is conceivable to have the current position deviated from be corrected. That is, all the roads are extracted from the road network in the vicinity where the current position is displayed, and the compatibility between the pattern of each road and the pattern of the traveling locus of a car or the like is checked to find the pattern with the highest matching rate. The designated road is regarded as the road currently running, and the display position of the current position is moved to the matched road.

However, by adopting such correction means, when the roads near the current position are complicated and complicated, all the roads are extracted, and the road patterns of the automobiles etc. are extracted for each of the road patterns. It takes a lot of time to perform the processing for matching.

The present invention has been made in consideration of the above points, and corrects the current position deviated from the road by an error by matching the pattern of the road on the map with the pattern of the traveling locus of the moving body. (EN) Provided is a traveling route display device capable of easily and accurately matching both patterns.

In order to achieve the object of the present invention, in the traveling route display device, by matching the pattern of the traveling locus of the moving body with the pattern of the road on the map, the current position of the moving body deviated from the road due to an error. When the correction is made, the matching process between the pattern of the running locus and the pattern of the road on the map is executed every time the value obtained by integrating the amount of direction change in the running locus of the moving body becomes a certain value or more. I am trying to do it.

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 shows a configuration example of a traveling route display device according to the present invention, which is of a photoelectric type, an electromagnetic type or a mechanical contact type which outputs a pulse signal for each unit traveling distance according to the rotation of a tire of an automobile. The number of pulse signals from the distance sensor 1, the number of pulse signals from the distance sensor 1, and the direction sensor 2 including, for example, a gyroscope that detects a change in the angular velocity in the yaw direction and that outputs a signal proportional to the amount of change in the direction of traveling of the vehicle. The mileage of the vehicle is measured, and the change in the traveling direction is calculated according to the output signal of the direction sensor 2, whereby the position on the XY coordinates for each unit mileage of the vehicle is sequentially calculated.
Also, a signal processing device 3 including a CPU, a program ROM, a control RAM, and the like for performing centralized control of the entire system
And a traveling locus storage device that sequentially stores the data of the position on the X-Y coordinates that is obtained by the signal processing device 3 and that changes as finite continuous position information corresponding to the current position of the vehicle ( RAM) 4 and a map information storage medium 5 in which a plurality of map information is stored in advance in file units
And a storage medium reproducing device 6 for selectively reading out a necessary map file from the storage medium 5, and displaying a map image on the screen according to the read map file and storing it in the traveling locus storage device 4. A display device 7 for renewing and displaying the current position of the vehicle, the traveling locus up to that point, the current traveling direction, etc. on the same screen based on the obtained position data, and an operation command to the signal processing device 3 and the display device 7 Select and specify the map to be displayed on the map, set the starting point of the vehicle on the displayed map, and change the direction of the displayed map and traveling path,
The operation position 8 allows the display position to be shifted, the map and the traveling locus to be partially enlarged, and the display mode to be changed such as the selection of the display scale ratio.

With such a configuration, the selectively read map is displayed on the screen of the display device 7, and is preset by the signal processing device 3 in accordance with the vehicle traveling from the starting point set on the map. The current position on the XY coordinates is obtained by calculation every moment in accordance with the scale factor of the map thus obtained, and the result of the calculation is sequentially sent to the traveling locus storage device 4 to update its stored contents. The stored contents are constantly read and sent to the display device 7. As a result, on the display device 7, as shown in FIG. 2, a display mark M1 indicating the current position of the vehicle on the map displayed on the screen, a display mark M2 indicating the traveling direction of the vehicle at the current position, and a departure mark. A running locus display mark M3 from the point S to the current position is simulated and displayed following the running state of the automobile.

The above configuration and operation are the same as those of the conventional travel route display device described at the beginning.

Therefore, in such a traveling route display device, as shown in FIG. 3, the current position and the traveling locus up to that point gradually deviate greatly from the road on the map as the vehicle travels due to the accumulated error described above. In the end, it becomes impossible to judge where on the map the vehicle is currently traveling.

In such a travel route display device, in the present invention, under the control of the signal processing device 3, when the current position of the moving body and the travel locus up to that point deviate from the road on the map,
Match the pattern of each road in the vicinity with the pattern of the moving locus of the moving body, consider the road with the matching pattern as the currently running road, and display the current position of the moving body on the road. The display position of the running track is corrected.

At that time, particularly in the present invention, when matching the pattern of the traveling locus of the moving body and the pattern of the road, the road candidate to be matched with the pattern is selected to the minimum necessary as follows. Then, the load of the matching process is reduced.

First, the estimated current position of the moving body is set on the road on which the vehicle is currently traveling and on all roads branching from the road according to the constant traveling distance of the moving body.

At this time, as shown in FIG. 4 (a), if there is no branch road within a fixed distance L from the set point of the previous estimated current position x ', the road is currently running and the moving body is running. Therefore, the estimated current position x is set at a position advanced by the certain distance L. Further, as shown in FIG. 4 (b), if there are branch roads within the certain distance L, the estimated current positions x1, x2, x3 are set to all of the branch roads, respectively. Where l1 ＋ l2 ＝
There is a relationship of l1 + l3 = l1 + l4 = L.

The estimated current position is set in the position data of the road in the map displayed on the screen of the display device 7 each time the distance sensor 1 detects that the moving body has traveled a certain distance L. Therefore, it is automatically performed under the control of the signal processing device 3. The estimated current position may be set independently of the travel distance of the moving body, and the estimated current position may be sequentially set every time a predetermined time elapses as the moving body travels. It is also conceivable to change the set interval of the estimated current position according to the traveling condition of the mobile body. Each road is segmented into lines, and position data on the XY coordinates of each line segment is stored in the map information storage medium 5.

Next, check whether the distance between the estimated current position set as described above and the current position of the moving object calculated at that time and displayed off the road is within a predetermined allowable range. A determination is made and an estimated current position within that range is selected, and only roads where the selected estimated current position exists are candidates for matching.

Now, for example, in the relationship of FIG. 5, the estimated current position x (x
1, x2, x3) and the current position P is D (D1, D2, D3)
In such a case, the estimated current position that satisfies the following equation D ≦ αL + M (1) is selected.

Here, M is a preset allowable range, for example, 50
It is set to about m. α is a coefficient relating to position accuracy when the traveling distance of the moving body is used as a parameter, and is, for example, 5
It is set to about%. Further, L is set to about 100 m. At that time, it is possible to select an estimated current position set on a road having a direction within a certain allowable angular difference with respect to the traveling direction of the current position P of the moving body. .

Then, in the relationship of FIG. 5, if the value of M is set to be relatively small, for example, only x2 is selected as the estimated current position satisfying the condition of the equation (1), and the estimated current position x2 exists. The roads to be set are candidate roads to be subjected to the matching process. Therefore, according to the present invention, even when there are many roads near the current position deviating from the road, a road candidate having a high probability of being matched as a target of the matching process is selected to a necessary minimum. Therefore, the burden of the matching process can be effectively reduced.

Further, in the present invention, when the pattern of the traveling locus of the mobile body and the pattern of the candidate road are matched, the matching processing is performed successively every time the mobile body travels a certain distance and the estimated current position is set. Since the load becomes large, the direction change amount of the traveling locus of the moving body is constantly monitored, and when the integrated value of the direction change amount exceeds a certain value, the change in the shape of the traveling locus has a great feature. At that time, the matching process according to the pattern of the traveling locus of the moving body during the integration period up to that time is executed at one time.

That is, as shown in FIG. 6, the angle wi (i = 1,2,3, i) formed by the X axis of the traveling locus at each point a, b, c, d, ... For each constant traveling distance l of the moving body. ...), and the integrated value W of the direction change amount is sequentially calculated according to the following equation.

When the calculated total amount W of directional changes is equal to or greater than a preset value, traveling from the current position P of the moving body at that time to a start point a (which becomes the previous matching processing point) The locus is extracted as the target of this matching process.

Therefore, if the matching with the road is performed according to the traveling locus of the moving body in which the extracted pattern has a large feature, the number of matching processes is reduced as a whole, and the accuracy of the pattern is high according to the feature of the pattern. It becomes possible to perform efficient matching processing. At this time, as the road pattern to be matched, as shown in FIG. 7, for example, as shown in FIG. 7, the estimated current position x selected according to the current position P of the moving body is set as the head and the previous matching processing point is set. The pattern of the road that cuts the set points of the past estimated current positions x ′ up to S is cut out.

In the case of extracting a road pattern in which a plurality of estimated current positions are set and performing the matching process at one time, each estimated current position that satisfies the relationship of equation (1) is selected as described above. At each time point, the distance between the current position of the moving body at that time and the estimated current position set on the road will gradually increase as the traveling of the moving body progresses. It is necessary to increase the value of M in the equation (1) as is advanced.

Further, in the present invention, when matching the extracted traveling locus pattern of the moving body with the candidate road pattern cut out as described above, the traveling locus RP pattern is set as shown in FIG. 8 (a). The polygonal line is approximated to the polygonal line by the equal length, and the pattern of the candidate road KP is also approximated to the polygonal line by the equal length line segment as shown in FIG. Matching is done with a vector sequence of minutes.

However, if the matching of the traveling locus of such a moving body and the road on the map is performed using the polygonal line approximation under the same condition, it is easy to compare the direction and position of each corresponding line segment. Therefore, the matching process can be accurately and easily performed.

A specific matching process is performed as follows.

First, the position correlation between the running trajectory pattern and the candidate road pattern, which are approximated by polygonal lines by equal length line segments, is obtained. At that time, after rotating the traveling locus pattern in a predetermined manner so as to match the directionality of the road pattern, the distances between the head points of the corresponding line segments of the traveling locus pattern and the road pattern are integrated. It is a correlation of position.

That is, as the first step, the vector sequence approximated to the broken line of the traveling locus is And the vector sequence approximated by the polygonal line of the candidate road (| S1 | = | s2 | = ... = | sn | = | r1 | = | r2 | = ... =
| rn |) and the rotation angle θ of the vector sequence of the traveling locus is calculated according to the following equation.

Here, ω (i) is a weighting function.

As the second step, the trajectory vector sequence is rotated according to the rotation angle θ using the following equation.

By performing the rotation processing of the vector sequence of the traveling locus, the direction detection error can be corrected as a result.

As a third step, the correlation value f of the position is obtained according to the following equation in accordance with the vector sequence of the traveling locus and the vector sequence of the road that have been subjected to the rotation processing.

Next, taking into account the distance detection error in obtaining the current position P of the moving body, the head position x of the candidate road is taken into consideration.
With a vector sequence of roads extended by a certain distance + δ (several tens of meters) according to the road pattern, and with a vector sequence of roads shortened at the beginning position of the candidate road by a certain distance -δ according to the road pattern, the same as above. The correlation value f of the position with the vector sequence of the locus is obtained.

Finally, the smallest one of the obtained correlation values f is selected, and when the selected correlation value f is less than or equal to a reference value, it is determined that matching is achieved, and the result is shown in FIG. As shown, the traveling locus RP is translated so that the current position P of the traveling locus is at the head position (for example, the position of x + δ) of the matched road pattern, and then the traveling locus is moved to the point P. Rotate by the angle θ to the center and fit on the matched road.

By performing such matching processing, the display position of the current position P of the moving body deviating from the road on the map and the display position of the traveling locus up to that position are corrected.

At that time, each of the positions x + δ and x−δ obtained by adding or subtracting a certain distance δ from the estimated current position x on the candidate road is divided into a large number, and each divided position is cut out as a head position. If the correlation value f with each traveling locus pattern is obtained based on the road pattern, and if the smallest correlation value f among them falls below the reference value, it is determined that matching has been achieved, the matching accuracy will be improved. It will be possible to raise it further.

Further, as described above, when selecting a candidate road for matching according to the estimated current position x set on the road, as shown in FIG. 10, the moving body is traveling on a road not on the map, etc. If so, the current position P of the moving body calculated at that time and the estimated current position x set on the road are too far apart, and the estimated current position x satisfying the relationship of the formula (1) is satisfied.
May not exist, in which case the candidate road is not selected and the matching process becomes impossible.

Therefore, in the present invention, even when the moving body is traveling on a road that is not on the map, the estimated current position can be optimally set on the road and the matching process can be continuously performed. I am trying.

That is, the estimated current position x that satisfies the relationship of the above equation (1)
When no longer exists, a search is made to see if a road exists within a preset fixed distance range (for example, a circle with a radius of 100 m) from the current position of the moving body calculated at that time. If there is, a temporary estimated current position is newly set at the position of the shortest distance on the road as viewed from the current position, and the new estimated current position is set on the same road for each constant traveling distance of the moving body. When the distance between the current position of the moving body and the updated provisional estimated current position is within a predetermined range that satisfies the relationship of the above formula (1), new estimation is performed at that time. The current position is regarded as the true estimated current position, and the matching process described above is executed based on the newly set estimated current position thereafter. Specifically, while the moving body is not traveling on the road that is not on the map, its running locus is not displayed, and after the estimated current position is newly set on the searched road. The matching process is performed in the same manner as described above according to the traveling locus of the moving body in.

It should be noted that whether or not a road exists within a certain distance range from the current position of the moving body is determined even if it is always performed, and also after a certain period of time or a unit traveling distance (for example, 100 m) of the moving body. It is also possible to generate a predetermined timing due to, for example, and to perform it at each timing.

FIG. 11 (a) shows a case where there is one road R within a circle A having a constant radius centered on the current position P of the moving body. In this case, the road R from the current position P of the moving body is shown. A new estimated current position is set at the intersection Q when the perpendicular line is drawn down.

FIG. 11 (b) shows the case where there are two roads R1 and R2 within a circle A having a constant radius centered on the current position P of the moving body. Each road R
A new estimated current position is set at each of the intersections Q1 and Q2 when the perpendicular lines are drawn on 1 and R2.

FIG. 11 (c) shows a case where there is a road R within a circle A having a constant radius centered on the current position P of the moving body, but a perpendicular cannot be drawn from the current position P onto the road R. ,
In this case, a new estimated current position is set at the turning point Q3 on the road R closest to the current position P.

When setting the new estimated current position, the radius of the circle may always be constant, but the traveling distance of the moving body after the estimated current position x satisfying the relationship of the above equation (1) no longer exists. If the radius of the circle is increased in proportion to, for example, when the road is not easily found in the circle, it is possible to deal with the current position P of the moving body which is gradually increased due to the accumulated error.

As described above, in the travel route display device according to the present invention, when the display position deviates from the road on the map due to an error in calculating the current position of the mobile object, the travel of the mobile object to reach the current position. When the current position is corrected by matching the trajectory pattern with the road pattern, each time the integrated value of the direction change amount in the travel trajectory of the moving body becomes a certain value or more, the travel trajectory in the integration period. Since the matching process of the pattern of the above and the pattern of the road on the map is executed, the pattern in which the traveling locus is significantly changed and a large feature is generated while effectively suppressing the number of the entire matching process. Therefore, there is an excellent advantage that a highly accurate matching process can be efficiently performed.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a travel route display device according to the present invention, FIG. 2 is a view showing an example of a display screen in the embodiment, and FIG. FIG. 4 is a diagram showing a state in which the vehicle is dislocated, and FIGS. 4 (a) and 4 (b) are diagrams showing states in which the estimated current position is set on the road for each constant traveling distance of the moving body,
FIG. 5 is a diagram showing the relationship between the current position of a moving body that has deviated from the road and the estimated current position set on the road, and FIG. 6 is a diagram showing an example of the state of change in the traveling trajectory of the moving body.
FIG. 7 is a diagram showing a cut-out state of a candidate road pattern to be matched, and FIG. 8 (a) is a diagram showing a state in which a traveling locus pattern of a moving body is approximated by broken lines by equal-length line segments. FIG. 9B is a diagram showing a state in which a road pattern is approximated by broken lines by equal-length line segments, and FIG. 9 shows a state in which the current position and traveling locus of a moving body are aligned on the matched road. Fig. 10 and Fig. 10 are views showing an example of a display screen when the mobile body is traveling on a road which is not on the map, and Figs. 11 (a), (b), (c) are the current body of the mobile body. It is a figure which respectively shows the state which sets a new estimated present position on the road within a fixed circle centering on a position. 1 ... Distance sensor, 2 ... Direction sensor, 3 ... Signal processing device, 4 ... Running track storage device, 5 ... Map information storage medium, 6 ... Storage medium reproducing device, 7 ... Display device, 8 ......
Operating device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomoyuki Nishio 1-4-1 Chuo, Wako-shi, Saitama, Honda R & D Co., Ltd. (56) References JP-A-61-243482 (JP, A) Kai 61-243318 (JP, A) JP 59-208696 (JP, A)

Claims (1)

[Claims] 1. A traveling locus of a moving body is calculated by sequentially calculating a current position that changes momentarily while detecting a traveling distance of the moving body and its traveling direction, and storing and holding data of the calculated current position. However, by matching each pattern of the traveling locus of the moving body and the road on the map displayed on the screen, the traveling locus is matched on the matched road and the current position on the road is obtained. In the travel route display device configured to display, each time the value obtained by integrating the amount of direction change in the travel trajectory of the moving body becomes a certain value or more, the travel trajectory in the integration period and the road on the map A travel route display device characterized in that a matching process is executed.